| Supercavitation vehicle is an underwater equipment that adopts supercavitation drag reduction technology to achieve high-speed navigation,which has attracted widespread attention in the industry due to its good combat performance and the advantages of good concealment and fast strike speed,and has broad application prospects in actual combat.The cavitator is an important device installed at the head of the vehicle to generate cavitation,and can be used as a control rudder surface to adjust the attitude of the vehicle.At present,the actual application of cavitators can generally only achieve single-degree-of-freedom deflection of pitch or yaw,and there are few research and applications on double-degree-of-freedom cavitators.In order to improve the maneuverability of supercavitation vehicles and further improve their combat performance,an innovative double-degree-of-freedom cavitator mechanism is proposed.The mechanism adopts the configuration scheme of 2PUS+Sp,through the expansion and contraction of 2 PUS motion branches,the cavitator pitch and yaw double-degree-offreedom deflection motion can be realised.The main work and conclusions around the design scheme proposed in this paper are as follows:(1)Based on the actual function and function of the cavitator in the supercavitation vehicle,the design requirements of the double-degree-of-freedom cavitator mechanism were formulated;Combined with the composition principle of the less-degree-of-freedom mechanism,a design scheme that can realize the double-degree-of-freedom deflection of cavitator pitch and yaw is proposed.The structure of each component in the mechanism is designed in detail,and the ball screw and motor are reasonably selected through relevant calculations according to the needs of actual work.(2)Kinematic analysis of the double-degree-of-freedom cavitator mechanism proposed in this paper.Firstly,the analytic method is used to analyze the motion law of the original moving parts and the end members in the mechanism,and the position relationship of each component in the space mechanism is established by the coordinate transformation method,and the motion relationship expression of the main and slave parts is deduced.Then,the virtual prototype simulation is used to verify the kinematics of the mechanism and verify the correctness of the theoretical analysis.(3)To ensure the reliability of the operation of the institution,the strength checks are carried out on the key components.Through force analysis,the force transmission relationship between components in the mechanism is obtained,and the components with simple structure are checked and calculated to check whether they meet the strength requirements.For the components with complex structure,finite element analysis is adopted to analyze them statically.The results of kinematic analysis and virtual prototype simulation show that the mechanism can realize the rotation of double degrees of freedom of pitch and yaw,verify the feasibility of the motion of the double degree of freedom cavitator mechanism,and obtain the force and deformation of the key components in the mechanism under actual working conditions through mechanical analysis,which meet the strength requirements of the design.It is proved that the mechanism design is reasonable,and it has the advantages of simple transmission structure,reliable motion relationship and good manufacturing process,and has strong engineering application prospects. |
